Class Transform2Df


  • public class Transform2Df
    extends java.lang.Object
    A 4x4 homogeneous transform matrix \mathbf{T}\in SE(3)

    \mathbf{T} = \left[ \begin{array}{cc} \mathbf{R} \mathbf{d} \\ \begin{array}{ccc}0 0 0\end{array} 1 \end{array} \right]
    • Constructor Detail

      • Transform2Df

        public Transform2Df​(long cPtr,
                            boolean cMemoryOwn)
      • Transform2Df

        public Transform2Df()
        Default Constructor.

        Initializes with 0 translation and Identity matrix as rotation
      • Transform2Df

        public Transform2Df​(Vector2Df d,
                            Rotation2Df R)
        Constructs a homogeneous transform
        Parameters:
        d - [in] \mathbf{d} A 3x1 translation vector
        R - [in] \mathbf{R} A 3x3 rotation matrix
    • Method Detail

      • getCPtr

        public static long getCPtr​(Transform2Df obj)
      • delete

        public void delete()
      • identity

        public static Transform2Df identity()
        Constructs the identity transform
        Returns:
        the identity transform

        \mathbf{T} = \left[ \begin{array}{ccc} 1 0 0 \\ 0 1 0 \\ 0 0 1 \\ \end{array} \right]
      • multiply

        public Transform2Df multiply​(Transform2Df bTc)
        Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}

        Parameters:
        bTc - [in] \robabx{b}{c}{\mathbf{T}}
        Returns:
        \robabx{a}{c}{\mathbf{T}}

        \robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{ccc} 0 0 0 \end{array} 1 \end{array} \right]
      • multiply

        public Vector2Df multiply​(Vector2Df bP)
        Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
        point \mathbf{p} from frame b to frame a

        Parameters:
        bP - [in] \robax{b}{\mathbf{p}}
        Returns:
        \robax{a}{\mathbf{p}}
      • R

        public Rotation2Df R()
        Gets the rotation part \mathbf{R} from \mathbf{T}
        Returns:
        \mathbf{R}
      • P

        public Vector2Df P()
        Gets the position part \mathbf{d} from \mathbf{T}
        Returns:
        \mathbf{d}
      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object
      • get

        public float get​(long row,
                         long column)
      • set

        public void set​(long row,
                        long column,
                        float d)